相关论文: Learning a Control Policy for Fall Prevention on a…
Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coach-applied guidance--to acquire skills like walking,…
Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different application scenarios and for diverse users is crucial when the…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…
The development of rehabilitation training program for lower limb injury does not usually include gait pattern design. This paper introduced a gait pattern design by using equations (conditions of walking). Following the requirements of…
Functional electrical stimulation (FES) has been increasingly integrated with other rehabilitation devices, including robots. FES cycling is one of the common FES applications in rehabilitation, which is performed by stimulating leg muscles…
This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…
Most microscopic pedestrian navigation models use the concept of "forces" applied to the pedestrian agents to replicate the navigation environment. While the approach could provide believable results in regular situations, it does not…
We routinely perform procedures (such as cooking) that include a set of atomic steps. Often, inadvertent omission or misordering of a single step can lead to serious consequences, especially for those experiencing cognitive challenges such…
Falls among elderly residents in assisted living homes pose significant health risks, often leading to injuries and a decreased quality of life. Current fall detection solutions typically rely on sensor-based systems that require dedicated…
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…
Assessing the physical condition in rehabilitation scenarios is a challenging problem, since it involves Human Activity Recognition (HAR) and kinematic analysis methods. In addition, the difficulties increase in unconstrained rehabilitation…
Despite the growing potential of older adult care technologies, the adoption of these technologies remains challenging. In this work, we conducted a focus-group session with family caregivers to scope designs of the older adult care…
Many people living with neurological disorders, such as cerebral palsy, stroke, muscular dystrophy or dystonia experience upper limb impairments (muscle spasticity, loss of selective motor control, muscle weakness or tremors) and have…
In recent years a growing interest on action recognition is observed, including detection of fall accident for the elderly. However, despite many efforts undertaken, the existing technology is not widely used by elderly, mainly because of…
Personalizing medical devices such as lower limb wearable robots is challenging. While the initial feasibility of automating the process of knee prosthesis control parameter tuning has been demonstrated in a principled way, the next…
Estimation of temporospatial clinical features of gait (CFs), such as step count and length, step duration, step frequency, gait speed, and distance traveled, is an important component of community-based mobility evaluation using wearable…
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…
Classical control techniques such as PID and LQR have been used effectively in maintaining a system state, but these techniques become more difficult to implement when the model dynamics increase in complexity and sensitivity. For adaptive…
Infants' spontaneous and voluntary movements mirror developmental integrity of brain networks since they require coordinated activation of multiple sites in the central nervous system. Accordingly, early detection of infants with atypical…